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Merge pull request #30 from WHS-FRC-3467/LasercanImpl
Lasercan impl
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| Original file line number | Diff line number | Diff line change |
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| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
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| package frc.robot.util.drivers; | ||
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| import au.grapplerobotics.ConfigurationFailedException; | ||
| import au.grapplerobotics.LaserCan; | ||
| import au.grapplerobotics.interfaces.LaserCanInterface.Measurement; | ||
| import edu.wpi.first.units.measure.Distance; | ||
| import edu.wpi.first.wpilibj.Alert.AlertType; | ||
| import edu.wpi.first.wpilibj2.command.button.Trigger; | ||
| import lombok.Getter; | ||
| import edu.wpi.first.wpilibj.Alert; | ||
| import static edu.wpi.first.units.Units.*; | ||
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| public class LaserCANSensor { | ||
| private LaserCan lc; | ||
| private int CAN_ID; | ||
| private Distance triggerDistance = Inches.zero(); | ||
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| @Getter | ||
| public Trigger nearTrigger = new Trigger(() -> getMeasurement().lte(triggerDistance)); | ||
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| private final Alert failedConfig = | ||
| new Alert("Failed to configure LaserCAN!", AlertType.kError); | ||
| private final Alert sensorAlert = | ||
| new Alert("Failed to get LaserCAN measurement", Alert.AlertType.kWarning); | ||
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| /** | ||
| * Constructs a new LaserCAN sensor | ||
| * | ||
| * @param ID CAN ID assigned to the sensor | ||
| * @param triggerDistance distance at which to trigger the sensor | ||
| */ | ||
| public LaserCANSensor(int ID, Distance distance) | ||
| { | ||
| CAN_ID = ID; | ||
| lc = new LaserCan(CAN_ID); | ||
| triggerDistance = distance; | ||
| try { | ||
| lc.setRangingMode(LaserCan.RangingMode.SHORT); | ||
| lc.setRegionOfInterest(new LaserCan.RegionOfInterest(8, 8, 6, 6)); | ||
| lc.setTimingBudget(LaserCan.TimingBudget.TIMING_BUDGET_20MS); | ||
| failedConfig.set(false); | ||
| } catch (ConfigurationFailedException e) { | ||
| System.out.println("Configuration failed! " + e); | ||
| failedConfig.setText("Failed to configure LaserCAN ID: " + ID + "!"); | ||
| failedConfig.set(true); | ||
| } | ||
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| } | ||
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| /** | ||
| * Returns distance reading from LaserCAN sensor | ||
| */ | ||
| public Distance getMeasurement() | ||
| { | ||
| Measurement measurement = lc.getMeasurement(); | ||
| if (measurement != null | ||
| && measurement.status == LaserCan.LASERCAN_STATUS_VALID_MEASUREMENT) { | ||
| sensorAlert.set(false); | ||
| return Millimeters.of(measurement.distance_mm); | ||
| } else if (measurement != null | ||
| && measurement.status != LaserCan.LASERCAN_STATUS_VALID_MEASUREMENT) { | ||
| sensorAlert | ||
| .setText("Failed to get LaserCAN ID: " + this.CAN_ID + ", no valid measurement"); | ||
| sensorAlert.set(true); | ||
| return Millimeters.of(Double.POSITIVE_INFINITY); | ||
| } else { | ||
| sensorAlert.setText("Failed to get LaserCAN ID: " + this.CAN_ID + ", measurement null"); | ||
| sensorAlert.set(true); | ||
| return Millimeters.of(Double.POSITIVE_INFINITY); | ||
| } | ||
| } | ||
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| } |